Force/Position Regulation for a Robotic Finger in Compliant Contact with an Unknown Surface
2005 (English)In: 2005 IEEE International Symposium on Intelligent Control & 13th Mediterranean Conference on Control and Automation, Vols 1 and 2, NEW YORK: IEEE , 2005, 77-82 p.Conference paper (Refereed)
In this paper we are concerned with the problem of force and position regulation of a soft robotic finger in contact with a flat unknown surface. A type of parallel control scheme with gravity compensation is applied. Using nonlinear stability theory it is shown that the proposed controller achieves exact force regulation. It is further shown that position errors may stay close to zero and in some cases can even vanish even in the presence of uncertainties. Simulation results support theoretical findings.
Place, publisher, year, edition, pages
NEW YORK: IEEE , 2005. 77-82 p.
UNCERTAIN KINEMATICS, POSITION, MANIPULATORS
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50947DOI: 10.1109/.2005.1466995ISI: 000231530100014ISBN: 0-7803-8936-0OAI: oai:DiVA.org:kth-50947DiVA: diva2:463102
Joint Conference of the 20th IEEE International Symposium on Intelligent Contol/13th Mediterranean Conference on Control and Automation. Limassol, CYPRUS. JUN 27-28, 2005
QC 201112122011-12-082011-12-082011-12-12Bibliographically approved